Detection#
Use Cases and Requirements#
Tracking in Object Recognition is required for use cases involved with obstacles:
- Changing lane
- Turning at intersection
- Avoiding parked vehicles
- Stopping at a crosswalk when pedestrians are walking
- Passing intersection without traffic lights
- Merging into another lane
- Taking over Pedestrian/Cyclists
- Stopping/yielding to an obstacle
For the details about related requirements, please refer to the document for Perception stack.
Role#
Tracking in Object Recognition keeps objects' unique id over time. This time series processing leads to estimating objects' property such as their velocity and/or acceleration. Furthermore, it could estimate more accurate objects' orientation by leveraging the Detection results over time.
Input#
| Input | Data Type | Topic |
|---|---|---|
| Dynamic Objects | autoware_perception_msgs::DynamicObjectArray |
/perception/object_recognition/detection/objects |
| TF | tf2_msgs::TFMessage |
/tf |
Output#
| Output | Data Type | Output Module | TF Frame | Topic |
|---|---|---|---|---|
| Dynamic Objects | autoware_perception_msgs::DynamicObjectArray |
Object Recognition: Prediction | map |
/perception/object_recognition/tracking/objects |
Design#
This is our sample implementation for the Tracking module.
Requirement in Output#
Designated objects' properties in autoware_perception_msgs::DynamicObject need to be filled in the Tracking module before passing to the Prediction module.
| Property | Definition | Data Type | Parent Data Type |
|---|---|---|---|
| id | Unique object id over frames | uuid_msgs::UniqueID |
autoware_perception_msgs::DynamicObject |
| twist | Velocity in ROS twist format. | geometry_msgs::TwistWithCovariance |
autoware_perception_msgs::State |
| twist_reliable | Boolean for stable twist or not. | bool |
autoware_perception_msgs::State |
| acceleration | Acceleration in ROS accel format. | geometry_msgs::AccelWithCovariance |
autoware_perception_msgs::State |
| acceleration_reliable | Boolean for stable acceleration or not. | bool |
autoware_perception_msgs::State |